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   <div id="projectname">SimpleRobot
   &#160;<span id="projectnumber">1.0</span>
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   <div id="projectbrief">简易四轴机器人动画</div>
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<div class="title">view.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef VIEW_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define VIEW_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;QOpenGLWidget&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;QOpenGLFunctions&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;QMatrix4x4&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;QOpenGLShader&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;QOpenGLShaderProgram&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;QOpenGLVertexArrayObject&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;QOpenGLBuffer&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">class </span><a class="code" href="class_model.html">Model</a>;</div>
<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="class_view.html">   14</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_view.html">View</a> : <span class="keyword">public</span> QOpenGLWidget, <span class="keyword">protected</span> QOpenGLFunctions</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <a class="code" href="class_view.html#a23bf47b5e5888e35781307cc7507181f">View</a>(<a class="code" href="class_model.html">Model</a> *model, QWidget *parent=0);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <a class="code" href="class_view.html#ad0dc854db9aabbea98a334dec89f785c">~View</a>();</div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="class_view.html#a647f520f9b348ce40bfcd9cd1969d3b2">   25</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_view.html#a647f520f9b348ce40bfcd9cd1969d3b2">rotateView</a>(<span class="keywordtype">float</span> thetaX, <span class="keywordtype">float</span> thetaY, <span class="keywordtype">float</span> thetaZ) {</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;       theta[0] += thetaX;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;       theta[1] += thetaY;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;       theta[2] += thetaZ;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;       update();</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    }</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordtype">void</span> initializeGL() Q_DECL_OVERRIDE;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordtype">void</span> resizeGL(<span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height) Q_DECL_OVERRIDE;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordtype">void</span> paintGL() Q_DECL_OVERRIDE;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keywordtype">void</span> initVBO(QOpenGLBuffer &amp;vbo, const QVector&lt;GLfloat&gt; &amp;data);</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    QMatrix4x4 paintBase(QMatrix4x4 &amp;mvMatrix);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    QMatrix4x4 paintMaster(QMatrix4x4 &amp;mvMatrix);</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    QMatrix4x4 paintAssistant(QMatrix4x4 &amp;mvMatrix);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    QMatrix4x4 paintBar(QMatrix4x4 &amp;mvMatrix);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;private:</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    QOpenGLVertexArrayObject m_vao;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    QOpenGLBuffer m_vbo_verteces, m_vbo_normals;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    QOpenGLShaderProgram m_program;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    QMatrix4x4 m_camera, m_world, m_projection;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <a class="code" href="class_model.html">Model</a> *model;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">float</span> theta[3];</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;};</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#endif // VIEW_H</span></div>
<div class="ttc" id="class_model_html"><div class="ttname"><a href="class_model.html">Model</a></div><div class="ttdoc">机器人数据模型 </div><div class="ttdef"><b>Definition:</b> model.h:9</div></div>
<div class="ttc" id="class_view_html_ad0dc854db9aabbea98a334dec89f785c"><div class="ttname"><a href="class_view.html#ad0dc854db9aabbea98a334dec89f785c">View::~View</a></div><div class="ttdeci">~View()</div><div class="ttdoc">A destructor. </div><div class="ttdef"><b>Definition:</b> view.cpp:12</div></div>
<div class="ttc" id="class_view_html_a23bf47b5e5888e35781307cc7507181f"><div class="ttname"><a href="class_view.html#a23bf47b5e5888e35781307cc7507181f">View::View</a></div><div class="ttdeci">View(Model *model, QWidget *parent=0)</div><div class="ttdoc">A construtor. </div><div class="ttdef"><b>Definition:</b> view.cpp:4</div></div>
<div class="ttc" id="class_view_html"><div class="ttname"><a href="class_view.html">View</a></div><div class="ttdoc">视图类 </div><div class="ttdef"><b>Definition:</b> view.h:14</div></div>
<div class="ttc" id="class_view_html_a647f520f9b348ce40bfcd9cd1969d3b2"><div class="ttname"><a href="class_view.html#a647f520f9b348ce40bfcd9cd1969d3b2">View::rotateView</a></div><div class="ttdeci">void rotateView(float thetaX, float thetaY, float thetaZ)</div><div class="ttdoc">旋转视图 </div><div class="ttdef"><b>Definition:</b> view.h:25</div></div>
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